1. SimHydraulics Model and simulate hydraulic systems
Pravesh Sanghvi
Technical Marketing, Physical Modeling
MathWorks

2. Computational Time vs. Model Complexity
Key Points
Provides hydraulic component models for fluid power and fluid supply systems
Configure your model to balance model fidelity and simulation speed
Tune parameters to match measured data with MATLAB
Test using HIL instead of hardware prototypes
Computational
Time
Detail
Computational Time vs. Model Complexity
Configure Model
Generate C Code
Real-Time Hardware

3. Agenda Modeling Physical Systems
Model and simulate Hydraulic Systems with SimHydraulics
Actuation system
Fuel Supply system
Custom Valves
Custom Components using Simscape language
Thermal Liquid system
Battery Cooling system
Automatically tune component parameters
Code generation from Simscape and SimHydraulics models

4. Value of Physical System Models
Deepwater Horizon explosion 04/10
High Pressure methane gas expanded
into drilling rig and ignited
high-pressure methane gas from the well expanded into the drilling riser and rose into the drilling rig, where it ignited and exploded, engulfing the platform
An oil leak was discovered on the afternoon of 22 April 2010 when a large oil slick began to spread at the former rig site.
A mechanical failure sent a JetBlue plane like this one careening wildly through the skies, sparking panic among the 155 people aboard the Las Vegas to New York flight, passengers told The Post yesterday.
JetBlue’s ‘4 hours of hell’ 06/12
Double Hydraulic Failure Causes Extended Anxiety, Emergency Landing In Vegas

5. Develop Complex Multidomain Systems
Inputs and outputs Software components
Physical connections
Simultaneous equations
Physical Hardware A B P T
PID + - S1 S2 S3
if (..)
x = …
else
x =
Software & Algorithms
Use the right language for the right task Use Model-Based Design on the entire system

6. Physical Modeling Within Simulink
Simulink is best known for signal-based modeling
Causal, or input/output
Simscape enables bidirectional flow of power between components
System level equations:
Formulated automatically
Solved simultaneously
Cover multiple domains
Simulink: Input/Output
Simscape: Physical Networks

7. Physical Systems in Simulink
SimMechanics
SimDriveline
SimHydraulics
SimElectronics
SimPowerSystems
Simscape
MATLAB, Simulink
Simscape
Mechanical
Hydraulic
Electrical
Thermal Liquid
Custom Domains via Simscape Language
Pneumatic
Magnetic N S
SimPowerSystems
SimHydraulics
Multidomain physical systems
Electrical power systems
Fluid power and control
SimMechanics
SimDriveline
SimElectronics
Multibody mechanics (3-D)
Mechanical systems (1-D)
Electromechanical and electronic systems

8. MathWorks Investment in Physical Modeling
Thermal Liquid In Simscape
Magnetics In Simscape
15+ years of physical modeling
Rapid progress since Simscape released (2007)
Pneumatics In Simscape
Simscape
Language
SimElectronics
Thermal effects
optional ports
Simscape
Local Solver
Simscape
Logging
Zero
Crossing Stats
Model Statistics Viewer
SimHydraulics
SimDriveline
Simscape-Based Library (2G)
SimMechanics
SolidWorks Translator
ProEngineer Translator
Autodesk
Translator
Simscape-Based Library (2G)
SimPowerSystems
Electric Drives
Library
Ideal Switching
Algorithm
Intf. Elements Editing Mode
Simscape-Based Library (3G)
1998
2000
2002
2004
2006
2008
2010
2012
2014
2016

9. Agenda Modeling Physical Systems
Model and simulate Hydraulic Systems with SimHydraulics
Actuation system
Fuel Supply system
Custom Valves
Custom Components using Simscape language
Thermal Liquid system
Battery Cooling system
Automatically tune component parameters
Code generation from Simscape and SimHydraulics models

10. SimHydraulics Introduction
Enables physical modeling (acausal) of hydraulic systems
Models look like hydraulic schematic
Create models of custom components
Create reusable models
Extend with Simscape language
Set parameters easily
Choose parameterization option
Optimize the entire system
Simulate the controller and plant together in the Simulink environment
Enables efficient modeling of hydraulic power and control systems in Simulink, which enables a common environment for controller and plant. This supports Model-Based Design by enabling a more useful and elaborate executable specification.
Key Features
It employs the hydraulic circuit schematic language for model description in accordance with the ISO 1219 fluid power standard. This schematic language is well-adopted among the community of hydraulic engineers, so its use through SimHydraulics provides this community access to understanding and contributing to a simulation model in Simulink.
The standard components library includes component blocks for most of the standard designs for pumps, valves, cylinders, accumulators, and motors. This library enables rapid creation of hydraulic system models.
The hydraulic and mechanical building blocks include models for flow through orifices, fluid inertia, mechanical rigid inertia, spring and damping, and many more basics of hydraulics and mechanics. Most hydraulic components can be described in terms of these basics in a way that reveals a principal set of physical parameters for describing the component. This group of building blocks, therefore, provides the means for extending your library set to include the new or exotic components that you use, but which are not contained in the standard component library, yet.
Sensor and source blocks generate and receive Simulink signals. They enable the measurement and assignment of hydraulic pressure and flow at any point in the circuit, and for mechanical force, torque, velocity, etc. The ability to sense and source the hydraulic and mechanical states of the system enables the communication between the controller and plant models. From the plant modeling perspective, it broadens the approach to employ a combination of behavioral, data-driven and physical modeling techniques. The broader approach accommodates more effectively an optimization of accuracy, solution speed, and creation effort for the entire system model.
The hydraulic fluids library block comes stocked with 18 fluids, which describes the functional dependence of the fluid properties on temperature and entrapped air.

11. Hydraulic Actuation System
Model: M
Problem: Model a hydraulic actuation system within the Simulink environment
Solution: Use SimHydraulics to model the hydraulic system

12. Modeling a Fuel Supply System
Fuel Lines
Left Wing
Tank
Right Wing
Pumps
Engine
Empasize Different elevation....
Problem: Evaluate the fuel supply system under different scenarios, including pressure drops due to elevation in the fuel lines
Solution: Use SimHydraulics to model the supply system

13. Balancing Fidelity and Simulation Speed
Key to effective use of simulation
Capture only the effects you need
Configure the model for your task
MathWorks products enable you to select the right level of detail for your task
Computational Time
Model Complexity & Detail
Computational Time vs. Model Complexity
Nonlinear Effects
Spool Dynamics
PWM Driver
Ideal Valve
Linearized Systems
Averaged Voltage
Configure your model to balance simulation speed and model fidelity.

14. Purpose of Custom Valve Demonstration
Servovalve, feedback
Servovalve, spring-centered
Proportional Valve
Ideal Proportional Valve
Show how to:
Extend SimHydraulics and Simscape libraries using foundation elements
Show how to include axial spool forces in SimHydraulics models
Configuring your model to
balance simulation speed
and model fidelity B P T
Important point to highlight how easy it is switch different variants...screenshot of different variants right->click blocks

15. Custom Four-Way Valve Model:
Servovalve, feedback
Servovalve, spring-centered
Proportional Valve
Ideal Proportional Valve
Problem: Model the custom four-way directional valves within the Simulink environment
Solution: Use Simscape and SimHydraulics to model the four-way directional valves

16. Custom Four-Way Valve (Servovalve Spring-Centered)
Model: T A P B T
Problem: Model the servovalve within the Simulink environment
Solution: Use Simscape and SimHydraulics to model the four-way directional valve

17. Spool Axial Hydraulic Forces
Model: P B T
Problem: Include the hydraulic axial forces on the spool
Solution: Use SimHydraulics to include the hydraulic forces on the spool

18. Purpose of Custom Valve Demonstration
Servovalve, feedback
Servovalve, spring-centered
Proportional Valve
Ideal Proportional Valve
Show how to:
Extend SimHydraulics and Simscape libraries using foundation elements
Show how to include axial spool forces in SimHydraulics models
Configuring your model to
balance simulation speed
and model fidelity B P T
Important point to highlight how easy it is switch different variants...screenshot of different variants right->click blocks

19. Agenda Modeling Physical Systems
Model and simulate Hydraulic Systems with SimHydraulics
Actuation system
Fuel Supply system
Custom Valves
Custom Components using Simscape language
Thermal Liquid system
Battery Cooling system
Automatically tune component parameters
Code generation from Simscape and SimHydraulics models

20. Simscape Language For Modeling Custom Components
MATLAB-based language
Object-oriented for model reuse
Generate Simulink blocks
Save as binary to protect IP
Too many words… a simpler slide…

21. Simscape Language: Hydraulic Orifice
Model:
MATLAB based
Object-oriented
Define implicit equations (DAEs and ODEs)
q =
Re ≥ Recr
Re < Recr
Problem: Create a new physical modeling component for use in Simulink using these equations
Solution: Use Simscape language to model the component

22. Agenda Modeling Physical Systems
Model and simulate Hydraulic Systems with SimHydraulics
Actuation system
Fuel Supply system
Custom Valves
Custom Components using Simscape language
Thermal Liquid system
Battery Cooling system
Automatically tune component parameters
Code generation from Simscape and SimHydraulics models

23. Thermal Liquid Library Key Points
Target Applications: Liquid heating/cooling systems
Engines, batteries, houses
Foundation elements for fluid transport, chambers, and converters for actuation
Simscape language code provided for all blocks

24. Model Custom Components
More complex components can be created by combining Foundation Library blocks
Actuators
Valves
Accumulators
Combine with other domains from Simscape
Thermal
Mechanical
Electrical

25. Battery Cooling System
Model:
Problem: Model thermal fluid flow in an battery cooling system
Solution: Use Simscape to model fluid flow through the radiator, pump, and battery

26. Agenda Modeling Physical Systems
Model and simulate Hydraulic Systems with SimHydraulics
Actuation system
Fuel Supply system
Custom Valves
Custom Components using Simscape language
Thermal Liquid system
Battery Cooling system
Automatically tune component parameters
Code generation from Simscape and SimHydraulics models

27. Estimating Parameters Using Measured Data
Model: A B P T
AreaA
AreaB
AreaV
Problem: Simulation data does not match measured data because the parameters are incorrect
Solution: Use Simulink Design Optimization to automatically tune model parameters
AreaA
AreaB
AreaV
0.025
0.02
175
AreaA
AreaB
AreaV
0.0176
0.0106
200

28. Estimating Parameters Using Measured Data
Steps to Estimating Parameters 1. Import measurement data and select estimation data
2. Identify parameters and their ranges
3. Perform parameter estimation
AreaA
AreaB
AreaV
0.025
0.02
175

29. Estimating Parameters Using Measured Data
Advantages of Simulink Design Optimization
Enables quick and easy comparison of simulation results and measured data to ensure simulation matches reality
Automatic tuning of parameters saves time
Optimization algorithms reveal parameter sensitivity and help improve model parameterization

30. Agenda Modeling Physical Systems
Model and simulate Hydraulic Systems with SimHydraulics
Actuation system
Fuel Supply system
Custom Valves
Custom Components using Simscape language
Thermal Liquid system
Battery Cooling system
Automatically tune component parameters
Code generation from Simscape and SimHydraulics models

31. Analyze Faster Using Code-Generation
Use Simulink accelerator modes when simulating Simscape models
Results in 3-6x faster simulation by using generated code
Deploy models as standalone simulation using RSIM
Quickly run simulations with different input data sets
Ideal for batch or Monte Carlo simulations
Use Model Reference to shorten model generation and simulation time
Model
Data Set 1
Data Set 2
Data Set 3
Data Set 4
Standalone Executable
Simulation
Probably if time permits have some kind of rsim/pct type simulation
Simscape models can be converted into C-Code. This allows us to take advantage of some additional features of Simulink to speed up our simulations. First, we can use the Simulink Accelerator Modes, which generate C-code from the model and simulate using that code. This can result in a 3-6x faster simulation. This does not require any additional MathWorks products.
For customers that have Real-Time Workshop, it is possible to create standalone simulations from your Simscape models. Using the RSIM Target in Real-Time Workshop, you can generate a standalone executable that can run the simulation on a separate computer. Please note that standalone executables that use a variable-step solver require a Simulink license, while standalone executables that use a fixed-step solver do not require a Simulink license.

32. Configuring Hydraulic Actuation System for HIL Testing
Model:
Variable step, implicit solver ODE15s (Reference)
Controller A B
Numerically Stiff System
Fixed-step, explicit solver (ODE1)
Problem: Configure solvers to minimize computations so the model can simulate in real time
Solution: Use local solvers on stiff physical networks and explicit solvers elsewhere
Controller A B
Local solver:
Implicit fixed-step
Configure Model
Generate C Code
Real-Time Hardware

33. Computational Time vs. Model Complexity
Key Points
Provides hydraulic component models for fluid power and fluid supply systems
Configure your model to balance model fidelity and simulation speed
Tune parameters to match measured data with MATLAB
Test using HIL instead of hardware prototypes
Computational
Time
Detail
Computational Time vs. Model Complexity
Configure Model
Generate C Code
Real-Time Hardware

34. Resources
Literature
Product:
Product Documentation:
Technical Literature:
Webinars
Contact Info: